Landing control method of a lightweight four-legged landing and walking robot

Force Control in One Legged Hopping Robot while Landing

In this paper, the issue of control of impact forces generated during the interaction between the hopping robot toe and the ground during landing has been considered. The force thus generated can damage the robot altogether. With the objective to control these impact forces impedance control strategy has been applied to the hopping robot system. The dynamics pertaining to the impact between rob...

Legged Robot Landing Control using Body Stiffness & Damping

This Paper is about landing control of legged robot. Body stiffness and damping is used as landing strategy of a legged robot. First, we only used stiffness control method to control legged robot landing. Second control method,sliding mode controller and feedback linearization controller is applied to enhance position control performance. Through these control algorithm, body center of gravity ...

A biologically inspired four legged walking robot

Four legged walking robot control using neural networks

This paper presents neural network (NN) control of planar four-legged walking robot. The control system consists of a neural controller, standard PD controller and walking robot. Proposed NN is employed as an inverse controller of the robot. In addition to feedforward connections from the input layer to the hidden layer and from the hidden layer to the output layer, there is also feedback conne...

Aramies: a Four-legged Climbing and Walking Robot

This article describes the four-legged walking integration study ARAMIES and the developed control software approach. Furthermore, we analyze a first walking experiment carried out. We explain how CPG-like rhythmic motion patterns can be produced on the basis of Bezier-splines, resulting in a very simple and flexible way to produce complex walking trajectories which can be modulated in phase, f...